System and method for target acquisition, aiming and firing control of kinetic weapon

ABSTRACT

A target acquisition is disclosed for use with a weapon in acquiring at least one target for the weapon. The system may make use of a mapping sensor subsystem which forms a controllably scanned electromagnetic wave energy subsystem for illuminating a scene where one or more targets are potentially present with selectively scanned electromagnetic wave energy. The system may also incorporate a control subsystem including a target/object recognition software module which uses information supplied by the mapping sensor subsystem to identify at least one target in the scene which forms a valid target to be engaged by the weapon. The system may limit firing of the weapon until a predetermined degree of aiming accuracy is achieved relative to the valid target.

STATEMENT OF GOVERNMENT RIGHTS

The United States Government has rights in this invention pursuant toContract No. DE-AC52-07NA27344 between the U.S. Department of Energy andLawrence Livermore National Security, LLC, for the operation of LawrenceLivermore National Laboratory.

FIELD

The present disclosure relates generally to targeting systems forweapons, and more particularly to a targeting system incorporating aLidar and/or radar system for assisting with target acquisition, aimingand firing control of a weapon.

BACKGROUND

This section provides background information related to the presentdisclosure which is not necessarily prior art.

Aiming with kinetic weapons is largely a matter of skill, owing largelyto a number of factors: i) the need complex image recognition; ii) ahuman end user making the decision; iii) complex ballistics of theprojectile; and iv) minimal acceptable delay time in making thedecision. Thus detailed analysis or measurements of projectile traveland aiming are generally not possible, leaving the user reliant on theirown capabilities and skill to ensure impact of the projectile at thedesired target location.

Several technologies have been attempted to address these challenges.One technology includes bullet steering and targeting cameras. Thesetechnologies generally work satisfactorily in certain limited scenarios,but present a number of drawbacks. Bullet steering is based on the ideaof passing commands to the projectile in order to have it adjusttrajectory during flight. Notionally, this could be used to ensureimpact at the desired location, however such a system remains nearly aslimited as the initial pointing technique, since it relies on the userto correctly point the target designator. If there is error in thedesignation location, then the impact of the projectile system willmiss.

Targeting cameras offer a second method, such as the technology offeredby Tracking Point, Inc. of Austin, Tex., which is disclosed in U.S.patent Ser. No. 14/828,194. This method uses a camera that looks along aline of sight of the weapon. Given that this method involves onlycollecting a second image, rather than a 3D map, the camera is not wellsituated to identify objects, particularly in poor environmental orlighting conditions. This method relies on the user using the camera totag a particular location, which represents the intended target. Thetargeting camera is able to predict impact location, so the system waitsuntil the weapon is pointed at the right angle to hit the taggedlocation in the camera. This methodology suffers from three majordrawbacks, all of which end up meaning the camera is only effective forcertain scenarios of firing: generally situations involving daytimeoperation where the shooter has time to settle and optimize the shot.The first drawback is that the camera is physically large and replacesthe scope on the weapon. As such, the camera is subject to the commonissues with visual targeting, that is, it requires a specificscale/degree of illumination to work. For conditions outside of ideal(night or solar glare) the sensor will fail. While nighttime operationis possible with a strong IR illuminator, this illuminator posessignificant issues during combat due to its effect as a locationsignaling device. All of the necessary components drive up the size,weight and power of the setup until the weapon is heavily encumberedwith hardware.

A second drawback of targeting cameras as disclosed above is that thealignment operation requires the user to tag the desired hit location.This requires switching through multiple modes, and using the userinterface (UI) to make a target selection. The human interfaceadjustments required to make this choice, and the time required forthis, means that such systems cannot be used in rapid combat. They maybe adequate for ranged shooting but pose an unacceptable hardware andtime demand on the operator during mobile combat scenarios.

Still a third drawback of present day targeting cameras is that all ofthe information must be accessed by looking through the telescopicsight, including target tagging selection and predicted impact location.This means that the user must be peering down the scope during theextensive operation of the system, which can be a significant impedimentduring dynamic conditions.

Another kind of auto-targeting system is available as the “Aim Lock™”active stabilization and auto-targeting system from by Aim Lock, Inc. ofDenver, Colo. The AimLock™ auto-targeting technology uses cameras toautomatically identify features, bypassing the need for manual targettagging. The technology then auto-aims the weapon at the automaticallyidentified target, waiting for the user to pull the trigger. While thisresolves one of the issues with prior targeting camera technologies, itstill retains several drawbacks. First, the camera and aiming frame isphysically large. All of the necessary components, particularly theparts required to aim the weapon, drive up the size, weight and power ofthe setup until the weapon is heavily encumbered with hardware. Second,the camera is subject to the common issues with visual targeting, thatis, it requires a specific scale of illumination to work. This means itis easily degraded, for example by an unwanted illumination source(laser pointer) or by non-optimal ambient lighting conditions. Thesystem produced by Aim lock, Inc. can potentially be renderedineffective by a focused optical signal (e.g., laser) directed at itfrom a remote location. Third, all of the information needed fortargeting must be accessed by the user looking through a telescopicsight, including both target tagging selection and predicted impactlocation. This means that the user must be peering down the scope orusing a heads up display (HUD) to access the information during thetarget selection and predicted impact operations of the system. This canbe a significant impediment during dynamic conditions. An even moreeffective and desirable system would present all the needed informationto the user without requiring the user to look through a scope or to usea HUD.

The elimination of all of the foregoing drawbacks would make for an evenmore capable weapon targeting system that is better suited to dynamicbattlefield conditions, as well as challenging ambient lightingconditions, and particularly night time operation, on the battlefield.Eliminating the need for a HUD and the need for the user to peer down ascope potentially would enable the targeting system to be used even morerapidly, and with potentially significantly greater accuracy, thanpresent day targeting systems.

SUMMARY

This section provides a general summary of the disclosure, and is not acomprehensive disclosure of its full scope or all of its features.

In one aspect the present disclosure relates to a target acquisitionsystem for use with a weapon in acquiring at least one target for theweapon. The system may comprise a mapping sensor subsystem which formsan electromagnetic wave energy subsystem for illuminating a scene whereone or more targets are potentially present with selectively scannedelectromagnetic wave energy. A control subsystem may be provided whichincludes a target/object recognition software (“TORPS”) module. TheTORPS module may use information supplied by the mapping sensorsubsystem to identify at least one target in the scene which forms avalid target to be engaged by the weapon, and the system may limitfiring of the weapon until a predetermined degree of aiming accuracy isachieved relative to the valid target.

In another aspect the present disclosure relates to a target acquisitionsystem for use with a weapon in acquiring at least one target for theweapon. The system may comprise a mapping sensor subsystem which forms acontrollably scanned electromagnetic wave energy subsystem forilluminating a scene where one or more targets are potentially presentwith selectively scanned electromagnetic wave energy. The mapping sensorsubsystem may include at least one of a solid state,microelectromechanical system (MEMS) light detection and ranging (Lidar)unit, or a micropower impulse radar. A control subsystem may also beprovided which includes a target/object recognition software modulewhich uses information supplied by the mapping sensor subsystem toidentify at least one target in the scene from a plurality of targets,which forms a valid target to be engaged by the weapon. An electronicfiring control subsystem may also be included which is at least one ofmounted on, or integrated into, the weapon, and which is responsive to afire command signal from the control subsystem to fire a projectile fromthe weapon. Firing of the weapon may be limited by the system until apredetermined level of aiming accuracy is achieved relative to the validtarget.

In still another aspect the present disclosure relates to a targetacquisition method for use with a weapon in acquiring at least onetarget for the weapon to fire at. The method may comprise using amapping sensor subsystem to generate a controllably scannedelectromagnetic wave energy beam to illuminate a scene where one or moretargets are potentially present. The method may further include using acontrol subsystem having a target/object recognition software module,where the target/object acquisition module uses information supplied bythe mapping sensor subsystem to identify at least one target in thescene which forms a valid target to be engaged by the weapon. Firing ofthe weapon is limited until a predetermined degree of aiming accuracy isachieved relative to the valid target.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described herein are for illustrative purposes only ofselected embodiments and not all possible implementations, and are notintended to limit the scope of the present disclosure.

Corresponding reference numerals indicate corresponding parts throughoutthe several views of the drawings, in which:

FIG. 1 is a high level block diagram of one embodiment of a system inaccordance with the present disclosure being employed on a kineticweapon such as a fully automatic or semiautomatic, small arms caliberrifle;

FIG. 2 is a high level block diagram illustration of the variouscomponents that the system may incorporate; and

FIG. 3 is a flowchart of operations that may be performed by the systemof FIG. 1 in identifying and acquiring a target, aiming and controllingfiring of the kinetic weapon shown in FIG. 1.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference tothe accompanying drawings.

Referring to FIG. 1, a target acquisition, aiming and fire controlsystem 10 is shown in accordance with one embodiment of the presentdisclosure. For convenience the target acquisition, aiming and firecontrol system 10 will be referred to throughout the followingdiscussion as simply “the system 10”.

The system 10 in this example may be used with a kinetic weapon 12,which in this example is shown as a small arms caliber automatic orsemiautomatic rifle. However, it will be appreciated that the system 10may be employed on other types of kinetic weapons and is not limited touse with only rifles, or with a kinetic weapon of any specific caliber.Accordingly, the system 10 may be implemented with handguns, shoulderfired weapons (e.g., rocket propelled grenade launchers, etc.), mortartubes, and even with mobile weapon systems (e.g., on tanks, howitzers,artillery). The system 10 may also potentially be employed with airborneplatforms such as aircraft, rotorcraft, drones, as well as on marinevessels. The system 10 may be used in any application where accuratetarget acquisition and aiming and fire control of a projectile frommedium to long range (e.g., typically 10 m or longer) is needed. It ispossible to use the system 10 for short range operation, however theneed for precise alignment tends to drop at close ranges.

The system 10 may include a control subsystem 14 and an environmentalmapping sensor subsystem 16 in bi-directional communication with oneanother mounted on the weapon 12. In this example the control subsystem14 is mounted on a receiver portion 12 a of the weapon for easy accessby the user, while the mapping sensor subsystem 16 is mounted from abarrel 12 a of the weapon. However, the precise placement of thesecomponents may be varied from these locations; it is only necessary thatthe mapping sensor subsystem 16 have an unobstructed view (i.e.,unobstructed by any portion of the weapons 12) and that the controlsubsystem 14 be conveniently accessible to the user. The specific typeof weapon may with which the system 10 may dictate at least in part thepreferred mounting locations for these components.

The system 10 may also include an electronic firing control subsystem 12c that is incorporated into or on the weapon 12. The electronic firingcontrol subsystem 12 c is able to electronically communicate, wirelesslyor in wired fashion, with the control subsystem 14, and enables thesubsystem 14 to fire the weapon (e.g., cause an appropriate signal to beapplied to the firing pin or other firing mechanism of the weapon 12) ata precise time controlled by the subsystem 14. In this regard theelectronic firing control subsystem 12 c may include a wireless radio 12d or suitable communications port for enabling a wired connection withthe control subsystem 14. If a wired connection is used, then theelectronic firing control subsystem 12 c may include a communicationsport 12 f (serial and/or parallel) to enable the wired connection to bemade with the control subsystem 14 via a suitable cable 31 a. A wiredconnection may be preferable in that it would not create a detectableelectromagnetic signature on a battlefield. The control subsystem 14 mayalso include one or more subsystems that are operably associated with atrigger 12 e of the weapon 12, as will be explained more fully in thefollowing paragraphs.

Referring to FIG. 2, the various components and subsystems of the system10 are shown in greater in detail. The environmental mapping sensorsubsystem 16 forms a controllably scanned electromagnetic wave energypropagation subsystem which projects controllably scannedelectromagnetic wave energy at a desired scene where one or more targetsmay be present. The environmental mapping sensor subsystem 16(hereinafter simply the “mapping sensor subsystem” 16) may incorporate,in one embodiment, a solid state MEMS (micro-electro-mechanical system)Lidar unit. For convenience, this component will be referred to simplyas “Lidar unit” 18 throughout the following discussion. Optionally,though, or even in addition to a solid state MEMS Lidar unit, theenvironmental mapping sensor subsystem 16 could instead incorporate amicropower impulse radar. Both implementations are contemplated by thepresent disclosure. For convenience, however, the following discussionwill involve using the Lidar unit 18 as the electromagnetic wave energyscanning component.

The Lidar unit 18 generates and scans one or more beams 18 a to image ascene in which one or more potential targets may be present. The beams18 a may be used to not only identify valid targets within the scene butalso to assist the user of the weapon 12 in aiming the weapon at thevalid target, or further even to help control firing of the weapon atthe precise instant where the weapon is aimed at the valid target.Optionally, a visible laser 20 may be included with a separate On/Offswitch 22 that may be engaged by the user. The visible laser 20 maygenerate a visible laser beam 20 a to identify to the user a specifictarget or specific location on a given target during an aiming process,which will be described further in the following paragraphs.

The control subsystem 14 may include a collection of environmentalsensors 24 (e.g., humidity, wind velocity, barometric pressure,altitude, weapon barrel temperature sensor, etc.) which provide varioustypes of information that is helpful or necessary for accurate targetacquisition and aiming of the weapon 12. A database 26 may be providedfor holding various data pertaining to the weapon and or the specificprojectile being fired (e.g., projectile caliber, bullet weight, bulletvelocity, bullet material/construction, barrel length, explosive powderquantity, etc.). A plurality of weapon motion sensors 28 may be providedwhich include one of accelerometers for sensing real time roll, pitch,yaw, etc. of the weapon 12 and providing real time electrical signals inaccordance therewith. An optional wireless radio (e.g., BLUETOOTH®communications protocol module) 30 may be included to wirelesslycommunicate with the electronic firing control subsystem 12 c.Alternatively, a communications port 31 (serial and/or parallel) may beprovided to enable the wired connection (i.e., with cable 31 a)described above. As noted above, the wired connection will likely bepreferred in most instances, as this avoids generating anelectromagnetic signature in the field that could give away theshooter's/user's location.

The control subsystem 14 may further include an environmentalcompensation software module 32 which makes use of the data collected bythe environmental sensors 24 that helps the system 10 compensate forenvironment factors (e.g., wind direction and wind speed, altitude,etc.) that may have a bearing on the trajectory of the projectile beingfiled from the weapon.

A target/object recognition prioritization software module (“TORPSmodule”) 34 may be included in the control subsystem 14 which helps toidentify targets within a field of view of the Lidar unit 18, andoptionally to prioritize targets. The TORPS module 34 may include adatabase 34 a with 3D models of various objects including adult humans,child humans, various animals, various objects such as cars, trucks orother objects, which the system 10 is able to identify. Various objectswithin the database 34 a may be classified as targets or non-targets,and objects designated as targets may optionally be provided with apriority categorization designating an importance of the object relativeto other objects within the database. Although, as discussed furtherbelow, in most instances it is expected that the preferredprioritization will be based on the available valid targets that areclosest to the user firing the weapon 12.

With further reference to FIG. 2, the control subsystem 14 includes anelectronic controller 36 that may have a non-volatile memory (RAM orROM), for controlling overall operation of the system 10. The electroniccontroller 36 may receive inputs from components or subsystems 24, 32,26, 28, 32 and 34, in addition to a fire command detection sensor 38,and a kick actuator subsystem 40. An On/Off switch 42 may be providedthat controls the application of power (e.g., DC or AC power) from apower source 44 (e.g., on-board DC battery) to the various system 10components and subsystems. An optional display 46 (e.g., LCD, LED, OLED,etc.) may be included for providing the user of the weapon 12 a displayof the scene being imaged by the system 10.

The kick actuator subsystem 40 may be component that initiates movementof one or more masses (e.g., 1 lb weight(s)) to provide a small,momentary movement to the weapon, to help aim the barrel 12 b. One ormore actuators, for example electrically controlled linear actuators,may be used to move one or more the weight in one the X, Y or Z axes asneeded. The electronic controller 36 may use information from one ormore of the components and subsystems 24, 26, 28, 32 and 34 indetermining what control signals need to be applied to the kick actuatorsubsystem 40, and at exactly the precise time, to achieve the neededdegree of overlap with the Lidar unit 18 a to accurately aim the weapon12 at a determined target. This active type control may enable thesystem 10 to reach convergence (i.e., desired degree of overlap) with aselected target faster than waiting on the user driven drift of theweapon 12, while the user is aiming the weapon, to reach the desiredpoint of convergence. In the active mode of operation, the kick actuatorsubsystem 40 is able to help bring the weapon 12 rapidly into alignment,thus eliminating firing delays possibly caused by gusting winds or otherfactors which affect the user while holding the weapon 12.

Both of the control subsystem 14 and the Lidar weapon 12 preferably forma significantly more compact package than present day aiming systemstypically used with kinetic weapons. The present system 10 thus providesa lightweight system and is adaptable to more weapons and a widervariety of packages than present day targeting systems. The operation ofthe system 10 provides the advantage that the system is not susceptibleto being compromised by shining a laser at it, while the Lidar unit 18performance likewise will not be degraded by such an external lightsource. The Lidar unit 18 is also significantly less sensitive tointerference or environmental illumination, meaning it may be expectedto provide significantly increased reliability over other present daytargeting systems.

In operation the Lidar unit 18 operates as an environmental mappingsensor with a relatively small field. As noted above, the Lidar unit 18may instead comprise a micropower impulse radar unit, and bothimplementations are envisioned by the present disclosure. However, amicropower impulse radar unit would be able to penetrate wooden wallsand other structures that may prove an impediment to the Lidar unit 18beam 18 a.

This Lidar unit 18 is attached to the weapon 12, in the example of FIG.1 to the barrel 12 b, and is attached so that it points largely alongthe bore of the barrel 12 b. The Lidar unit 18 preferably uses a solidstate MEMS Lidar. The benefit this provides is small size, weight andpower demand, while providing high precision and high speed scanning ofa scene. The Lidar unit 18 may be configured to scan with multipledifferent wavelengths to ensure measurement capability in a wide varietyof environments, even seeing through vegetation or plastic sheeting. Itwill be appreciated that this feature provides a significant benefitwhen using the system 10 in forested environments. The environmentalmapping sensor subsystem 16 only requires a relatively small field ofview, for example around a few degrees off bore of the weapon 12. Forlong range use (e.g., possibly longer than 100 meters), the beamsteering capability and aperture of the Lidar unit 18 could be tuned toprovide approximately a 100 urad beam divergence, to provide centimeterscale beam alignment at around 200 m or at even longer distances. TheLidar unit 18 generates a 3D point cloud map of the view downstream ofthe weapon 12, with fine resolution suitable to discern the shape ofobjects at distances of upwards of 200 m or possibly even greater.Shorter range versions of the system 10, which may be of interest to lawenforcement agencies, may include a mapping sensor subsystem 16 which istuned for closer range operation with a wider field of view (FOV) andreduced range. It is expected that precision targeting would only be ofgeneral value at ranges greater than at least about 10 meters; at closerranges, the user is likely able to target the projectile from the weapon12 as desired.

The Lidar unit 18 scan need not be a set raster operation. The mappingsensor subsystem 16 may initially carry out a low resolution mapping ofits full FOV, then focus in on any return signals, collecting a finepoint cloud around those regions of interest in an adaptive manner. Thiswould ensure the maximum utility of the collected data with the lowestdata bandwidth, unlike a camera.

The Lidar unit 18 may also use its laser to map the wind velocity alongthe potential path of the projectile, using standard Doppler techniquesor other mapping techniques. In one instance, this may require scanningthe beam 18 a around in a pattern of a cone to collect a set of velocitymeasurements, from which the wind vector may be discerned.

All of these pieces of information (environmental and movement of theweapon 12) may be used by the electronic controller 36 in the precisiontargeting system to predict the impact location of the projectile to befired from the weapon 12. The impact location would generally be withinthe FOV of the mapping sensor subsystem 16. In the case that sensor isthe Lidar unit 18, the visible laser beam 20 a may be placed in parallelto the scanning laser of the Lidar unit. The visible laser 20 may becontrolled by the mapping sensor subsystem 16 (and/or electroniccontroller 36) so that the visible laser occasionally generates a pulseout to mark the spot of the expected impact downstream. This wouldprovide the user the ability to see where they would hit without needinga scope, which is a critical difference from conventional targetingcameras, and a virtual necessity for dynamic conditions.

The active beam steering provided by the mapping sensor subsystem 16 andthe Lidar unit 18 may also be used to “paint” more than a point on anidentified target. For instance, a circle could be drawn to indicate theregion of confidence for impact of the projectile. The combineddesignation and area scanning is possible with the high speed beamsteering capability of the mapping sensor subsystem 16 and the Lidarunit 18.

Calibration of the system 10 may be carried out by firing at least oneround of ammunition against a surface within range of the Lidar unit 18.The mapping sensor subsystem 16 may use the Lidar unit 18 to scan thesurface, identify the impact point and update the internal predictionsof barrel 12 b angle to match the measured impact location. This wouldlikely require that the Lidar unit 18 be able to discern the impactlocation, which would mean the spot left by the impact of the projectilemust be large enough to discern during scanning. This would certainly bepossible if impacts occur well within the full range of measurement.Data from multiple shots could be used by the electronic controller 36to develop impact statistics, for instance an average location andcircle of probability. The predictions could be slowly updated in realtime with each shot, so if the impact location starts to drift frompredictions then the alignment values could be updated by the electroniccontroller 36. This would allow the system 10 to auto calibrate itself,and remove barrel 12 b heating or warping issues from consideration.

The system 10 would not need to be interfaced to a conventional scope;rather the entirety of the system 10 may be placed in a housing whichcan be readily attached to the weapon 12 in a manner which does notobstruct ordinary use of the weapon 12 or its operation. The system 10interfaces with the weapon 12 and provide an additional sensor (e.g.,fire command detection sensor 38, for determining when the user hasindicated that the weapon can now be fired. One specific mode ofoperation is to provide the fire command detection sensor 38 as a switchor component (e.g., button) that the user may press and hold when theprecision targeting operation is desired. Alternatively the fire commanddetection sensor 38 may be placed adjacent the trigger 12 e and maysense when the trigger 12 e has been moved a small, predetermineddistance by the user. So in this mode, the user is able to pull thetrigger 12 e of the weapon in the normal manner, and this movement willbe detected as a fire command signal. The mapping sensor subsystem 16uses the Lidar unit 18 to scan the down-bore field, to confirm alignmentwith at least one identified target, and the electronic controller 36generates an internal “fire” command that is communicated to theelectronic firing control subsystem 12 c on the weapon 12 when thepredicted impact location matches the observed target location, allowingthe weapon to fire.

One more general mode of operation for the system 10 may be to simplyprovide a real-time calibrated prediction of impact location via adesignation using the visible laser beam 20 a. This would not impair theuser's ability to fire the weapon 12 in its ordinary manner. It wouldalso not require the user to be looking through any type of sight,meaning that the user is still able to view areas around a scene atwhich the weapon 12 is being aimed, and therefore is more aware ofdynamic conditions in the general vicinity. Conventional camera trackingtechniques with present day targeting systems are not able to providethis benefit.

A second general mode of operation for the system 10 is to aid in thetargeting by actively identifying objects downstream, with the system 10choosing specific locations on these objects and deferring the user firecommand (provided by pulling the trigger 12 e) until the predictedimpact location sufficiently overlaps with the target location(s). Thissecond mode critically differs from conventional targeting cameras inseveral ways. First, it does not require the user to tag the target,rather the environmental mapping sensor subsystem 16 does soautomatically without the need for the user to be peering down a scopemounted on the weapon 12. Second, the mapping sensor subsystem 16 isillumination insensitive, so it works equally well in daytime ornighttime conditions. Third, the mapping sensor subsystem 16 may beconfigured to use specially selected wavelengths which enablepenetrating intervening material such as vegetation or water, whichwould otherwise obstruct the view of conventional targeting systems.Moreover, the first and second general modes described above are notexclusive, the user could keep on the laser designation provided by thevisible laser beam 20 a and still select precision targeting by engagingthe fire command detection sensor 38.

In one of its “active” modes of operation, the system 10 may scan thedownstream scene, identify one or more objects in the scene as potentialtargets, and then tag or select one or more specific target locations onspecific targets based on the selected system mode. These operations mayall be subsets of the second general mode identified above. These modesessentially configure the electronic controller 36 on how to choosetarget points on the object. The object identified to be closest to thebore of the weapon 12 (so in the user's sights) may in general bedetermined to be the most preferred available target. This may be thepreferred method for hitting certain types of targets, for exampleairborne drones.

The environmental mapping sensor subsystem 16 may pass the point clouddata to the TORPS module 34, which may make use of one or more imagerecognition algorithms, when the user pulls the trigger 12 e of theweapon 12. The modes below are examples of how the system 10 mayidentify the specific target areas from this data. Once these areas arechosen, the system 10 may then generate a fire control signal to theelectronic firing control subsystem 12 c of the weapon 12 only once themotion of the weapon aligns it so that the predicted impact locationsufficiently overlaps (e.g., >90% hit probability) with the chosentarget area. The target areas may be illuminated by some part of thevisible laser beam 20 a to show the user what the system 10 hasidentified as the target. This would enable the user to change the aimof the weapon 12 to ensure a hit.

Still another optional mode of operation is for the system 10 to targetonly typically non-lethal impacts on an individual (e.g., an arm,shoulder, etc. In this mode, the TORPS module 34 would use one or moresuitable algorithms to identify non-lethal impact areas as the target isstationary or moving. This would reduce the chance of killing a humantarget, as the weapon would avoid hitting lethal areas of theindividual. This non-lethal mode of operation may be of particularinterest to law enforcement agencies, where a situation exists in whicha threat to law enforcement personnel or bystanders needs to beeliminated, but where law enforcement personnel determine thatnon-lethal force on a human target may be sufficient to remove thethreat without resorting to using lethal force.

Another optional mode of operation is the inverse of the nonlethal mode,that being using the TORPS module 34 with suitable algorithms to targetonly areas of a human target that would produce a lethal strike (e.g.,head, center chest, abdomen, inner thigh, etc.). Still another optionalmode of operation may be to configure the TORPS module 34 with suitablealgorithms to target areas of conventional weakness in body armor, orpossibly areas of known armor weakness of other objects such as troopcarrying vehicles, tanks, etc., or areas of objects which, if hit, arevirtually certain to immediately disable the object (e.g., engine, fueltank, rotor structure, etc.). The foregoing are only a limited number ofthe possible operational modes that may be implemented using the system10, and the system 10 will be understood as not being limited to any oneor more specific operational modes.

Optionally, information provided by the system 10 (e.g., by theenvironmental sensors 24, and/or the environmental compensation mappingsoftware module 32 and/or the TORPS module 34) could be fed back to aheads up display (HUD) being worn by the user, if desired, to provideimagery for around a corner, for instance, where the user of the weapon12 would ordinarily not be able to visualize.

In certain use scenarios, the TORPS module 34 may be able to identifyobjects behind thin screens like vegetation. One mode for this is tohave the visible laser 20 a draw both the probable impact circle on thevegetation for the weapon user, as well as (or alternately with) theoutline of any objects of interest observed behind the vegetation. Thiswould provide the user with immediate feedback about the sensor readingsand the targets selected within the FOV of the system 10.

The system 10 enables several different control schemes for dischargingthe weapon 12. First, the user switch 22 allows the active visible laser20 to be turned on and off, by itself if desired by the user. The On/Offswitch 42 enables the control subsystem 14 and the Lidar unit 18 to beturned on. Second, the user switch 22 may be turned on by the user toinitiate active sensing with the system 10 using the Lidar unit 18.Third, the fire command detection sensor 38 may be arranged parallel tothe weapon trigger 12 e to sense when the user is applying pressure tothe trigger, or alternatively to sense when the trigger moves a shortpredetermined distance (typically called the “takeup” distance), andwould delay firing when the desired pressure applied to, or movement of,the trigger is reached, and until the required degree of target overlapoccurs with an acquired target. Optionally, another mode of operation,for example sensing a second trigger 12 e pull by the user within ashort predetermined time period (e.g., 2-5 seconds), may cause theelectronic controller 36 to cancel a previously detected fire signalfrom the user, and place the system 10 in a standby mode.

Referring to FIG. 3, a high level flowchart 100 is illustrated to showvarious operations that may be implemented using the system 10. Atoperation 102 the system 10 may collect real time environmental datausing the environmental sensors 24. At operation 104 the system 10 mayuse the mapping sensor subsystem 16 to identify targets in the FOV. Atoperation 106 the system 10 may also obtain weapon/projectile data andpreviously recorded/stored calibration and alignment data. Theelectronic controller 36 may be used to control and/or carry out one ormore of operations 102, 104 and 106.

At operation 108 the mapping sensor subsystem 16 identifies one or morespecific objects in the FOV as valid targets. At operation 110 the TORPSmodule 34 may automatically select one of a plurality of identified,valid targets, for example the closest one to the user, which are withinthe FOV. At operation 112 the TORPS module 34 and the electroniccontroller 36 may be used to make an initial estimate of the real timepredicted impact location on the selected target. The present degree ofoverlap of the point of impact, as well as its impact statistics (suchas probable impact outline to show region of high impact likelihood)with the selected target may be presented on the display 46, asindicated at optional operation 116 a. Information may also be displayeddownstream, as indicated at optional operation 116 b, by the mappingsensor subsystem 16 using an illumination (e.g., beam 20 a in FIG. 2)visible to the user, and drawing out the information so that the userdoes need to look at a display or scope. This information could includea point illuminating the presently determined impact location, aprobable impact outline to show region of high impact likelihood, and anoutline or other similar highlighting of the automatically identifiedtarget. Such identification would allow the user to confirm the weapon12 is locking onto the selected (i.e., valid) target, and determine whatorientation correction is required to ensure impact on the target.

At operation 114 the control system 14 makes a determination if a“weapon fire” command has been received from the user. If the answer tothis inquiry is “No”, then operation 112 may be repeated. If the answeris “Yes”, then at operation 118, a check is then made if the predictedimpact location overlaps at least a predetermined minimum degree withthe selected target. If this check produces a “No” answer, then the kickactuator subsystem 40 may be used at operation 120 (which is optional,however) in an effort to achieve the minimum predetermined degree ofoverlap between the projected point of impact and the selected target.The weapon 12 movement (i.e., “kick”) provided by the kick actuatorsubsystem 40 at operation 120 will change the impact location, so thesystem 10 will return to operation 112 to update estimated impactlocation. If the check at operation 118 indicates that the predeterminedminimum degree of overlap is present, then at operation 122 the controlsubsystem 14 transmits a firing signal to the electronic firing controlsubsystem 12 c on the weapon 12 to fire the weapon, or otherwise allowsthe weapon to fire (for example, allowing the trigger 12 e to be fullydepressed by the user).

Further to the above operations, other firing sequences may be carriedout by the system 10 as follows. The user has the active visible laser20 turned on with the laser beam 20 a being projected on the approximatelocation of projectile impact. The user aims the weapon 12 at the targetgeneral area, assisted by the laser beam 20 a acting as an impactlocation designator, and engages the active targeting mode by switchingon the On/Off switch 42, and then pulls the trigger 12 e to signal thesystem 10 initiate firing of the weapon 12.

When the On/Off switch 42 is turned on, thus powering on the targetingsystem 10, in real time the TORPS module 34 initiates the activetargeting mode and identifies a plurality of valid targets, and furtherdesignates one of the valid targets as being the one closest to thecalculated projectile trajectory and calculated impact location. Whenthe user begins to pull the trigger 12 e, the active mode of the system10, implemented using the TORPS module 34, waits until the weapon 12aligns to these areas. The weapon trigger 12 e is only allowed to befully depressed, or recognized as being fully depressed, once the weaponis in alignment to hit the target area. Optionally, movement of thetrigger 12 e may be physically obstructed by the system 10, for examplethrough a movable element positioned behind the trigger 12 e, toaccomplish this. The movable element may be moved by the system 10 onlywhen the weapon 12 is properly aimed at the identified target.

In the active mode, the kick actuator subsystem 40 may be immediatelydriven to shift the weapon 12 slightly into alignment. If the desiredmode is chosen, the target areas may be illuminated by the laser 20 toshow the user what the system 10 has identified as the target.Optionally, the visible laser 20 may be activated by the user switch 22being activated by pressure on the trigger 12 e. The benefit of usingthe trigger 12 e to activate this is that the target illumination wouldbe brief and only during the specific moment of alignment. In the casethat the weapon 12 is misaligned, the laser beam 20 a will provide avisual cue for the user to manually fix alignment. Once the weapon 12 isin alignment, the trigger 12 e may be allowed to physically move, oroptionally its movement may be recognized, thus letting the user'striggering pulling action fire the weapon 12.

The system 10 may also be incorporated for use on weapons such astasers. The system 10 may be used to ensure that both of the taserelectrodes fired from the taser impact the target at a preferredlocation on the target.

The foregoing description of the embodiments has been provided forpurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure. Individual elements or featuresof a particular embodiment are generally not limited to that particularembodiment, but, where applicable, are interchangeable and can be usedin a selected embodiment, even if not specifically shown or described.The same may also be varied in many ways. Such variations are not to beregarded as a departure from the disclosure, and all such modificationsare intended to be included within the scope of the disclosure.

Example embodiments are provided so that this disclosure will bethorough, and will fully convey the scope to those who are skilled inthe art. Numerous specific details are set forth such as examples ofspecific components, devices, and methods, to provide a thoroughunderstanding of embodiments of the present disclosure. It will beapparent to those skilled in the art that specific details need not beemployed, that example embodiments may be embodied in many differentforms and that neither should be construed to limit the scope of thedisclosure. In some example embodiments, well-known processes,well-known device structures, and well-known technologies are notdescribed in detail.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting. As usedherein, the singular forms “a,” “an,” and “the” may be intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. The terms “comprises,” “comprising,” “including,” and“having,” are inclusive and therefore specify the presence of statedfeatures, integers, steps, operations, elements, and/or components, butdo not preclude the presence or addition of one or more other features,integers, steps, operations, elements, components, and/or groupsthereof. The method steps, processes, and operations described hereinare not to be construed as necessarily requiring their performance inthe particular order discussed or illustrated, unless specificallyidentified as an order of performance. It is also to be understood thatadditional or alternative steps may be employed.

When an element or layer is referred to as being “on,” “engaged to,”“connected to,” or “coupled to” another element or layer, it may bedirectly on, engaged, connected or coupled to the other element orlayer, or intervening elements or layers may be present. In contrast,when an element is referred to as being “directly on,” “directly engagedto,” “directly connected to,” or “directly coupled to” another elementor layer, there may be no intervening elements or layers present. Otherwords used to describe the relationship between elements should beinterpreted in a like fashion (e.g., “between” versus “directlybetween,” “adjacent” versus “directly adjacent,” etc.). As used herein,the term “and/or” includes any and all combinations of one or more ofthe associated listed items.

Although the terms first, second, third, etc. may be used herein todescribe various elements, components, regions, layers and/or sections,these elements, components, regions, layers and/or sections should notbe limited by these terms. These terms may be only used to distinguishone element, component, region, layer or section from another region,layer or section. Terms such as “first,” “second,” and other numericalterms when used herein do not imply a sequence or order unless clearlyindicated by the context. Thus, a first element, component, region,layer or section discussed below could be termed a second element,component, region, layer or section without departing from the teachingsof the example embodiments.

Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,”“lower,” “above,” “upper,” and the like, may be used herein for ease ofdescription to describe one element or feature's relationship to anotherelement(s) or feature(s) as illustrated in the figures. Spatiallyrelative terms may be intended to encompass different orientations ofthe device in use or operation in addition to the orientation depictedin the figures. For example, if the device in the figures is turnedover, elements described as “below” or “beneath” other elements orfeatures would then be oriented “above” the other elements or features.Thus, the example term “below” can encompass both an orientation ofabove and below. The device may be otherwise oriented (rotated 90degrees or at other orientations) and the spatially relative descriptorsused herein interpreted accordingly.

What is claimed is:
 1. A target acquisition system for use with a weaponin acquiring at least one target for the weapon, the system comprising:a mapping sensor subsystem which forms an electromagnetic wave energysubsystem for illuminating a scene where one or more targets arepotentially present with selectively scanned electromagnetic waveenergy; and a control subsystem including a target/object recognitionsoftware module which uses information supplied by the mapping sensorsubsystem to identify at least one said target in the scene which formsa valid target to be engaged by the weapon, and to limit firing of theweapon until a predetermined degree of aiming accuracy is achievedrelative to the valid target.
 2. The system of claim 1, wherein thecontrol subsystem comprises: an electronic controller; and wherein thetarget/object recognition software module comprises a target/objectrecognition/prioritization software module which analyzes the one ormore targets to determine if the one or more targets form a validtarget, and when more than one valid target is identified, prioritizesthe valid targets such that a specific one of the valid targets isselected based on it being closest to a user operating the weapon. 3.The system of claim 1, wherein the control subsystem comprises: anelectronic controller; and wherein the target/object recognitionsoftware module is configured to cooperate with the controller indetermine a projected impact location for a projectile to be fired fromthe weapon.
 4. The system of claim 3, wherein the control subsystem isconfigured to further determine if the projected impact locationoverlaps sufficiently with the valid target, and when the predeterminedminimum degree of overlap is present, generates a signal indicating thatthe weapon is to be fired.
 5. The system of claim 4, wherein thesubsystem further includes an electronic firing control mechanismmounted on the weapon which is responsive to the signal, to controlfiring of the weapon.
 6. The system of claim 5, further comprising akick actuator subsystem mounted on the weapon for initiating a momentarymovement of the weapon in response to a signal from the controlsubsystem, to assist in aiming the weapon when the signal to fire theweapon is received.
 7. The system of claim 1, wherein the mapping sensorsubsystem comprises a light detection and ranging (Lidar) unit.
 8. Thesystem of claim 7, wherein the Lidar unit comprises a solid statemicroelectromechanical system (MEMS) Lidar unit.
 9. The system of claim1, wherein the mapping sensor subsystem comprises a micropower impulseradar.
 10. The system of claim 1, wherein the system further includes anelectronic firing control subsystem in communication with the controlsubsystem for enabling the control subsystem to fire the weapon.
 11. Thesystem of claim 10, wherein the control subsystem includes a wirelessradio, and the firing control subsystem includes a communicationssubsystem which communicates with the wireless radio to enable thecontrol subsystem to fire the weapon.
 12. The system of claim 11,further including a sensor for detecting a fire command initiated by auser of the weapon to fire the weapon.
 13. The system of claim 12,wherein the control subsystem prevents firing of the weapon until thetarget/object recognition software module of the control subsystemdetermines that a minimum degree of overlap is present between aprojected impact location of a projectile to be fired from the weapon,and the valid target.
 14. The system of claim 1, further comprising anenvironmental sensor for obtaining environmental information pertainingto at least one of: humidity; wind velocity; wind direction; barometricpressure; altitude; weapon barrel temperature; and inclination.
 15. Thesystem of claim 1, wherein the system further comprises: an electroniccontroller; at least one environmental sensor for sensing a real timeenvironmental condition at a location where the weapon is being used andgenerating environmental information in accordance with the sensed realtime environmental condition; and an environmental compensation softwaremodule in communication with the electronic controller for using theenvironmental information real time environment.
 16. The system of claim1, further comprising a visible laser operably associated with theenvironmental mapping sensor subsystem for projecting a visible laserbeam on the valid target.
 17. The system of claim 16, further comprisinga switch accessible by an operator of the weapon for turning the visiblelaser on and off.
 18. The system of claim 1, further comprising anoptional display system for displaying the valid target.
 19. A targetacquisition system for use with a weapon in acquiring at least onetarget for the weapon, the system comprising: a mapping sensor subsystemwhich forms a controllably scanned electromagnetic wave energy subsystemfor illuminating a scene where one or more targets are potentiallypresent with selectively scanned electromagnetic wave energy; themapping sensor subsystem including at least one of: a solid state,microelectromechanical system (MEMS) light detection and ranging (Lidar)unit; and a micropower impulse radar; a control subsystem including atarget/object recognition software module which uses informationsupplied by the mapping sensor subsystem to identify at least one targetin the scene from a plurality of targets, which forms a valid target tobe engaged by the weapon; and an electronic firing control subsystem atleast one of mounted or integrated into the weapon, which is responsiveto a fire command signal from the control subsystem to fire a projectilefrom the weapon, and which limits firing of the weapon until apredetermined degree of aiming accuracy is achieved relative to thevalid target.
 20. A target acquisition method for use with a weapon inacquiring at least one target for the weapon to fire at, the methodcomprising: using a mapping sensor subsystem to generate a controllablyscanned electromagnetic wave energy beam to illuminate a scene where oneor more targets are potentially present; using a control subsystemincluding a target/object recognition software module which usesinformation supplied by the mapping sensor subsystem to identify atleast one target in the scene which forms a valid target to be engagedby the weapon; and further using the control subsystem to disable firingof the weapon until a predetermined degree of aiming accuracy has beenachieved relative to the valid target.